Planner Server¶

Source code on Github.

The Planner Server implements the server for handling the planner requests for the stack and host a map of plugin implementations. It will take in a goal and a planner plugin name to use and call the appropriate plugin to compute a path to the goal.

Parameters¶

planner_plugins

Type	Default
vector<string>	[‘GridBased’]

Description

List of Mapped plugin names for parameters and processing requests.

Note

Each plugin namespace defined in this list needs to have a plugin parameter defining the type of plugin to be loaded in the namespace.

Example:

planner_server:
  ros__parameters:
    planner_plugins: ["GridBased"]
    GridBased:
      plugin: "nav2_navfn_planner/NavfnPlanner"

expected_planner_frequency

Type	Default
double	[20.0]

Description: Expected planner frequency. If the current frequency is less than the expected frequency, display the warning message.

Default Plugins¶

When the planner_plugins parameter is not overridden, the following default plugins are loaded:

Namespace

Plugin

“GridBased”

“nav2_navfn_planner/NavfnPlanner”

Example¶

planner_server:
  ros__parameters:
    expected_planner_frequency: 20.0
    planner_plugins: ['GridBased']
    GridBased:
      plugin: 'nav2_navfn_planner/NavfnPlanner'